EP2888078B1 - Dispositif de fourniture d'appareils de support et/ou d'usinage et système - Google Patents

Dispositif de fourniture d'appareils de support et/ou d'usinage et système Download PDF

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Publication number
EP2888078B1
EP2888078B1 EP13753137.2A EP13753137A EP2888078B1 EP 2888078 B1 EP2888078 B1 EP 2888078B1 EP 13753137 A EP13753137 A EP 13753137A EP 2888078 B1 EP2888078 B1 EP 2888078B1
Authority
EP
European Patent Office
Prior art keywords
axis
chain wheel
rotation
providing
fastened
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP13753137.2A
Other languages
German (de)
English (en)
Other versions
EP2888078A1 (fr
Inventor
Hardy DÖRR
Natalja HAAS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ThyssenKrupp System Engineering GmbH
Original Assignee
ThyssenKrupp System Engineering GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of EP2888078A1 publication Critical patent/EP2888078A1/fr
Application granted granted Critical
Publication of EP2888078B1 publication Critical patent/EP2888078B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/02—Assembly jigs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/5406—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed perpendicularly by a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
    • B23Q1/66—Worktables interchangeably movable into operating positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/02—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of drums or rotating tables or discs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
    • B23Q7/1431—Work holder changers

Definitions

  • the present invention is based on a device for providing holding and / or processing devices for a manipulator, in particular in a production line for the production of vehicle bodies.
  • annealing furnaces are used for heating the sheet metal parts to be formed to forming temperature. Between the outlet of such annealing furnaces and the forming press, the hot sheet metal parts must be transported by means of appropriate handling systems.
  • manipulators such as industrial robots or multi-axis feeder systems with docked by coupling units component holding devices.
  • the GB 2 105 234 A shows a turntable which is rotatable about the holding element.
  • the holding element can in turn be pivoted to the frame. Due to the orthogonal orientation of the axis of rotation of the retaining element to the pivot axis of the frame, none of the components can be moved on a planetary orbit to another.
  • the DE 20 2004 009 601 U1 shows a tool plate which is hinged to an upper mounting joint and which can be pivoted at its lower end during the change of a support arm or pivoted up or down. This also can not result in any movement of components on a planetary orbit.
  • the GB 793898 A shows a mechanism by means of which an elongated workpiece can be moved between two machine tools, wherein the workpiece is pivoted about an arm which simultaneously makes a 180 ° rotation about a vertical axis.
  • the production parts to be processed in a production line are constantly changed (also referred to as "batch mode"), so that the manipulator must be constantly equipped or retrofitted with different specifically adapted to the workpieces holding devices.
  • the change from a holding device to a subsequent workpiece corresponding holding device is often done manually by assembly personnel.
  • the maintenance and service of the holding device is carried out outside the production plant in separately furnished places.
  • the device according to the invention has the advantage over the prior art that an automated and faster loading of a manipulator with different holding and / or processing devices is made possible by the movable device having at least one holding and / or processing device for the manipulator with one of the two Provisioning elements holds in a ready position, in which the holding and / or processing device can be received by the manipulator in a simple manner and in particular automatically.
  • the corresponding provision element is pivoted by means of the associated pivot drive so that a quick recording by the manipulator is possible.
  • the other delivery element is in a waiting position, in which the holding and / or processing device located on this delivery element can be exchanged and / or maintained in a simple manner.
  • the rotatability of the base member about the axis of rotation also allows that can be easily changed between the two supply elements, so that either the first or the second supply element provides the manipulator a holding and / or processing device.
  • the manipulator preferably comprises a multi-axis feeder for processing, holding and / or transporting a workpiece by means of one or more holding and / or processing devices, wherein the feeder can receive the holding and / or processing device by a vertical movement of its pick-up head from the respective supply element ,
  • the manipulator it would also be conceivable for the manipulator to use an industrial robot for processing, holding and / or transporting a workpiece by means of one or more holding devices. and / or processing facilities.
  • the workpiece is in particular a metal component of a vehicle body.
  • the first providing element comprises a mounting plate, on which a fixing device for fixing a holding and / or processing device is arranged.
  • the fixing device advantageously ensures that the holding and / or processing device remain fixed to the mounting plate until they are received by the manipulator.
  • the base element performs a slow rotation about the axis of rotation, so that the workers for servicing and / or equipping the supply elements are not endangered.
  • the device comprises a safety device, for example a light barrier, which ensures that no worker is endangered by the rotation of the base element and then rapid rotation of the base element or rapid pivoting of the delivery element can be carried out, thus reducing the changeover times be further shortened.
  • the mounting plate is transferred in the waiting position in a vertical orientation, in which a comparatively simple replacement, maintenance and / or maintenance of the holding and / or processing device is possible.
  • the holding and / or processing devices must therefore no longer be removed from the production line to perform maintenance and / or maintenance work on it.
  • the first pivoting means comprises a first pivot arm, one end of which is pivotally attached to the base member via a second pivot and the other end is pivotally attached to the first providing member via a first pivot.
  • the first supply element can thus be pivoted between a supply position in which the main extension plane of the mounting plate preferably extends in the horizontal direction and a waiting position in which the main extension plane of the mounting plate extends in the vertical direction.
  • the horizontal orientation of the mounting mat in the ready position has the advantage that the holding and / or processing devices can be easily accommodated by a manipulator designed as a multi-axis feeder system in that the head of the feeder performs a vertical movement.
  • the first delivery element is advantageously connected to the base element via two rotary joints, wherein the first delivery element is pivoted when transferring between the ready position and the waiting position both about the axis of rotation of the first rotary joint, as well as about the axis of rotation of the second rotary joint.
  • the one swivel joint moves on a planetary orbit around the other swivel joint.
  • the first pivoting device comprises a first chain drive, the first chain drive having a first sprocket coupled to the first providing element, a second sprocket coupled to the base element, and one on the first sprocket and on the second Sprocket running chain includes.
  • first and second sprockets are coupled to the chain, pivoting of the mounting plate is effected when the first pivot arm or one of the sprockets are moved.
  • the first pivot arm can be pivoted about the axis of rotation of the second pivot joint by means of a first motor.
  • the second sprocket is preferably rotatably coupled to the base member, while the first sprocket is preferably non-rotatably coupled to the first providing element.
  • the central axis of the first sprocket is aligned with the axis of rotation of the first pivot while the central axis of the second sprocket is aligned with the axis of rotation of the second pivot.
  • a pivoting of the first pivot arm by means of the first motor now causes the first sprocket moves on a planetary orbit about the second sprocket.
  • the first sprocket and thus also the first mounting plate is pivoted relative to the first pivot arm by the pivoting of the first pivot arm.
  • the combination of pivoting of the first pivot arm and rotation of the first sprocket results, in particular, in that the first deployment element pivots from the vertical standby position to the horizontal deployment position.
  • the resulting pivoting angle of the mounting plate between the ready position and the waiting position depends on the size ratio between the first and the second sprocket.
  • the swivel angle can be adjusted in a simple manner by exchanging the first and / or second sprocket.
  • the diameter of the second sprocket is preferably larger than the diameter of the first sprocket.
  • the first motor drives a rotatably mounted in a mounted on the base member first bearing block drive shaft on which one end of the pivot arm is rotatably mounted, while the second sprocket is rotatably mounted on the first bearing block.
  • the other end of the pivot arm is preferably pivotally mounted in a first bearing member attached to the second bearing block, wherein the first sprocket is non-rotatably mounted on the second bearing block.
  • the second sprocket is coupled to the first motor via a drive axle and the second sprocket is rotatable about an axis of rotation aligned with the first pivot by means of the first motor while one end of the first pivot arm pivots a mounted on the base member first bearing block is mounted.
  • the other end of the first pivot arm is preferably pivotally attached to a first bearing member mounted on the second bearing block, while the first sprocket is non-rotatably mounted on the second bearing block.
  • the second supply element comprises a further mounting plate on which a further fixing device for fixing a holding and / or processing device is arranged and / or wherein the second pivoting device comprises a second pivot arm, whose one end via another second pivot joint is pivotally attached to the base member and the other end is pivotally attached to the second providing element via another first pivot joint and / or the second pivot means comprises a second chain drive, the second chain drive having a further first sprocket coupled to the second providing element; a further second chain wheel coupled to the base element, and a further chain running on the further first chain wheel and on the further second sprocket, and / or wherein the further second sprocket with e iner is connected along the second pivot axi
  • the device according to the invention thus has at least one second supply element constructed identically to the first supply element and a second pivot device constructed identically to the first pivot device.
  • Rotation of the base member causes the manipulator to provide a holding and / or machining means selectively from the first providing member or from the second providing member, respectively, while retaining the other of the first or second providing member in the waiting position.
  • the first and the second provision element are in particular arranged on the base element such that the first and the second pivot axis are aligned parallel to one another.
  • the first and second provision element are then arranged in particular on opposite sides of the base element and mirror-symmetrically with respect to a plane passing through the axis of rotation and parallel to the axis of rotation mirror plane.
  • the first and second supply element are arranged at least rotationally symmetrical about the axis of rotation of the base member.
  • the base element is designed as a turntable, which is rotatable relative to the holding base by means of a drive motor.
  • the base element can thus be rotated automatically and in this way be changed between the first and second delivery element.
  • the device has a third and fourth supply element, wherein the third and the fourth supply element are respectively provided for receiving the holding and / or processing means, wherein the third supply element by means of a third pivoting device around a
  • the fourth supply element is pivotable about a fourth pivot axis perpendicular to the axis of rotation by means of a fourth pivoting device, wherein the first, second, third and fourth supply element are preferably arranged rotationally symmetrical about the axis of rotation.
  • the third and / or fourth supply element allow the manipulator to provide further holding and / or processing devices.
  • the third and / or fourth provision element is preferably identical in construction to the first provision element, while the third and / or fourth pivoting device is preferably constructed identical to the first pivoting device. It is conceivable that further by means of further pivoting means pivotable supply elements are attached to the base member.
  • the device is preferably modularly equipped with the required number of provisioning elements and thus adaptable to different circumstances and requirements.
  • Another object of the present invention is a system for transporting and / or processing of workpieces within a production line for the production of vehicle bodies, the system comprising the inventive device for providing the holding and / or processing means and wherein the system further comprises a of the Device has provided holding and / or processing equipment equipped manipulator.
  • the system has a magazine for a plurality of holding and / or processing devices, wherein the fixing device of a delivery element are automatically loaded with holding and / or processing devices from the magazine and / or automatically holding and / or processing devices are to be unloaded from the fixing device of a delivery element in the magazine.
  • the system further comprises an exchange and / or maintenance station, in which a holding and / or processing device arranged on the delivery element can be changed, maintained and / or checked by a worker.
  • FIGS. 1 to 6 3 are schematic perspective views of an apparatus 100 for providing holding and / or processing means 11 for an actuator according to an exemplary embodiment of the present invention.
  • the device 100 has a base 1 fixedly mounted on the base, on which in the manner of a turntable, a base member 3 is rotatably mounted about a vertical axis of rotation 101.
  • the base element 3 serves as a table top of the turntable, wherein the turntable can be rotated about the axis of rotation 101 by means of a drive motor 16.
  • a first supply element 6 ' is arranged, which comprises a first mounting plate 13'.
  • a fixing device 10 is arranged (see in particular detail view in FIG. 6 ), in which a holding and / or processing device 11 is detachably and exchangeably received.
  • the first providing element 6 ' is connected to the base element 3 via a first pivoting device 4' in such a way that the first mounting plate 13 'can be pivoted about two first pivot axes 102 which are perpendicular to the axis of rotation 101 and extend essentially horizontally.
  • the first mounting plate is by means of the first pivoting device 4 'between a in FIG. 1 illustrated deployment position, in which the first mounting plate 13 'is oriented substantially horizontally, and one in FIG. 3 illustrated waiting position, in which the first mounting plate 13 'is substantially vertically aligned, about the first pivot axes 102 pivotally.
  • a manipulator In the ready position, a manipulator, not shown, in particular a multi-axis feeder (also referred to as a conveyor) or an industrial robot or any other type of device, the fixing device 10 for a change of holding and / or processing device 11 held out.
  • the manipulator while held in the fixing device 10 holding and / or processing device 11 is held and thus made available so that the holding and / or processing device 11 can be easily absorbed by the manipulator in the sense of a tool change, or the Manipulator is an empty fixing device 10 held out so that the manipulator equipped with a holding and / or processing device 11 can deliver this holding and / or processing device 11 in the fixing device 10 and then, for example, record another holding and / or processing device 11, which it preferably picks up after rotation of the turntable by a second provision element 6 " Pivoting movement of the first provision element 6 'about the first pivot axis 102 and the rotational movement of the base member 3 about the axis of rotation 102 successively or simultaneously.
  • the first pivoting device 4 ' comprises a first pivoting arm 5', which is pivotally connected to a first pivoting element 102 by means of a first pivoting joint 15 'on the first providing element 6' and which is pivotable about a second pivoting axis 102 by means of a second pivoting joint 14 'on the base element 3 is connected.
  • the one end of the first pivot arm 5 ' is rotatably mounted in a second bearing block 17' fastened to the first provision element 6 '.
  • the other end of the pivot arm 5 ' is rotatably connected, for example via clamps 19 with a drive shaft of a first motor 2', wherein the drive shaft is rotatably mounted in a first bearing block 18 'attached to the base member 3.
  • the central axis of the first sprocket 7 ' is aligned with the axis of rotation of the first pivot 15'.
  • the central axis of the second sprocket 9 ' is aligned with the axis of rotation of the second pivot 14'.
  • the drive axle simultaneously forms the axis of rotation for the second pivot joint 14 '.
  • the diameter of the second sprocket 9 ' is greater than the diameter of the first sprocket 7'.
  • the second pivot 15 'and thus the second bearing block 17' is pivoted about the drive axis, whereby the first sprocket 7 'moves on a planetary orbit about the second sprocket 9'.
  • the first sprocket 7' is pivoted about the axis of rotation of the first pivot joint 15 '.
  • the mounting plate 13' is pivoted both about the axis of rotation of the first rotary joint 15 'and about the axis of rotation of the second rotary joint 14'.
  • the first supply element 6 'thus pivots about both first pivot axes 102.
  • the first mounting plate 13' can thus between the vertical waiting position (see Figures 3 . 5 and 6 ) and the horizontal deployment position (see FIGS. 1 and 4 ).
  • the swing angle can be adjusted by the size ratio between the first and second sprockets 7 ', 9'.
  • the device 1 also has a second supply element 6 "designed analogously to the first supply element 6 'and which is connected to the second pivoting device 4" by means of a second pivoting device 4 "designed analogously to the first pivoting device 4'. can also be pivoted between a staging position and a waiting position.
  • the second pivoting device 4 "a second mounting plate 13", on which a further fixing device 10 for fixing a holding and / or processing device 11 is arranged.
  • the second pivoting device 4 “further comprises a second pivoting arm 5", one end of which is pivotally secured to the base member 3 via another second pivot 14 "and the other end is pivotally attached to the second providing member 6" via another first pivot 15 another first pivot joint 15 “comprises a further second bearing block 17", while the further second pivot joint 14 "comprises a further first bearing block 18".
  • the second pivoting device 4 has a second chain drive, wherein the second chain drive engages with the other second bearing block 17 "rotatably connected further first sprocket 7", with the other first bearing block 18 “rotatably connected further second sprocket 9", and on the other first sprocket 7 “and on the other second sprocket 9" running further Chain 8 ".
  • the second pivot arm 5" is one extending along a second Swivel axis 103 extending further drive axle rotatably connected, which by means of a second motor 2 "is driven.
  • the further drive axis is aligned with the central axis of the further second sprocket 9 ".
  • a central axis of the further first sprocket 7" is aligned with the rotation axis of the further first pivot 15 ".
  • the first and second pivot means 4 ', 4" are on opposite sides of the turntable arranged. In Figures 2 . 3 . 4 and 6 For reasons of clarity, only the first provision element 6 'is illustrated.
  • the device 1 it is possible for the device 1 to be equipped, as required, modularly with third, fourth and / or further such processing elements and pivoting devices.
  • first delivery element 6 'moved into the provisioning position or the second delivery element 6 "moved into the delivery position can be moved into a position facing the manipulator
  • the other of the first and second delivery elements 6', 6" can then be moved into the waiting position are moved and is thus in particular in an easily accessible by a worker insertion situation / maintenance position.
  • this provision element 6 ', 6 “outside a protective fence (not shown) of the entire system, so that in a simple way, a loading, replacement, maintenance or maintenance of the corresponding holding and / or processing equipment 11 is made possible by the worker.
  • the first delivery element 6 ' is in the ready position and in a position facing the manipulator, while the second delivery element 6 "is in the waiting position and in a position facing away from the manipulator
  • the manipulator preferably comprises an industrial robot for processing, holding and / or Transporting a workpiece by means of one or more holding and / or processing devices 11.
  • the holding and / or processing device 11 comprises in particular a component gripping device
  • the fixing device 10 then comprises in particular a standardized receptacle for the component gripping device.
  • the first pivoting device 4 ' is actuated, whereby the first mounting plate 13' pivots in a vertical position (see FIG. 2 ).
  • the turntable can be rotated about the axis of rotation 101 in order to bring the first supply element 6 'into the position facing away from the manipulator and to bring the second supply element 6 "into a position facing the manipulator
  • Component gripping device is a first component gripping device on the first mounting plate 13 'is deposited by the manipulator when the first supply element 6' in the ready position and in a manipulator facing position ( FIGS.
  • the first component gripping device can then be changed and / or maintained by the operator on the side facing away from the manipulator.
  • a magazine 12 is arranged in addition to the device 100, in which a plurality of holding and / or processing devices 11 are stored, which can be received by the supply elements 6 ', 6 " Circumferential direction is arranged between the manipulator and a workstation for the worker around the axis of rotation 101.
  • the turntable can be rotated during operation of the manipulator, for example, and the operator can access further component gripping devices located in the magazine 12 for maintenance and / or servicing. or testing purposes.
  • the invention provides a system of device 100, manipulator, magazine 12, changing and / or maintenance station available, on the one hand presents the manipulator in always the same positional orientation a holding and / or processing device 11 and at the same time the maintenance / upkeep of the other Holding and / or processing facilities 11 in the magazine 12 by a worker without removing the holding and / or processing facilities 11 allows the system.

Claims (13)

  1. Dispositif (100) de fourniture d'appareils de support et/ou d'usinage (11) pour un manipulateur, en particulier dans une ligne de fabrication pour la fabrication de carrosseries de véhicules, dans lequel le dispositif (100) présente une base de support (1) et un élément de base (3) monté de façon rotative autour d'un axe de rotation (101) par rapport à la base de support (1), dans lequel au moins un premier et un deuxième éléments de fourniture (6', 6") sont fixés sur l'élément de base (3), dans lequel le premier et le deuxième éléments de fourniture (6', 6") sont prévus respectivement pour la réception d'appareils de support et/ou d'usinage (11), dans lequel le premier élément de fourniture (6') peut pivoter au moyen d'un premier dispositif de pivotement (4') au moins autour d'un premier axe de pivotement (102) perpendiculaire à l'axe de rotation (101) et dans lequel le deuxième élément de fourniture (6") peut pivoter au moyen d'un deuxième dispositif de pivotement (4") au moins autour d'un deuxième axe de pivotement (103) perpendiculaire à l'axe de rotation (101), dans lequel le premier élément de fourniture (6') est relié à l'élément de base (3) au moyen de deux articulations rotatives (14', 15') et le premier élément de fourniture (6') pivote aussi bien autour de l'axe de rotation (101) de la première articulation rotative (14') qu'autour de l'axe de rotation (103) de la deuxième articulation rotative (15') lors du transfert entre une position de fourniture et une position d'attente, caractérisé en ce qu'une des articulations rotatives (14') se déplace sur une trajectoire planétaire autour de l'autre articulation rotative (15').
  2. Dispositif (100) selon la revendication 1, dans lequel le premier élément de fourniture (6') comprend une plaque de montage (13), sur laquelle est disposé un dispositif de fixation (10') pour fixer un appareil de support et/ou d'usinage (11).
  3. Dispositif (1) selon une des revendications 1 ou 2, dans lequel le premier dispositif de pivotement (4') comprend un premier bras pivotant (5'), dont une extrémité est fixée de façon articulée rotative au premier élément de fourniture (6') au moyen d'une première articulation rotative (15') et dont l'autre extrémité est fixée de façon articulée rotative à l'élément de base (3) au moyen d'une deuxième articulation rotative (14').
  4. Dispositif (100) selon la revendication 3, dans lequel le premier dispositif de pivotement (4') comprend un premier entraînement à chaîne, dans lequel le premier entraînement à chaîne comprend une première roue à chaîne (7') couplée au premier élément de fourniture (6'), une deuxième roue à chaîne (9') couplée à l'élément de base (3) ainsi qu'une chaîne (8') tournant sur la première roue à chaîne (7') et sur la deuxième roue à chaîne (9').
  5. Dispositif (100) selon la revendication 4, dans lequel le premier bras pivotant peut pivoter autour de l'axe de rotation de la deuxième articulation rotative au moyen d'un premier moteur, dans lequel la deuxième roue à chaîne (9') est couplée de façon calée en rotation à l'élément de base (3) et dans lequel la première roue à chaîne (7') est couplée de façon calée en rotation au premier élément de fourniture (6'), dans lequel le diamètre de la deuxième roue à chaîne (9') est de préférence plus grand que le diamètre de la première roue à chaîne (7').
  6. Dispositif selon la revendication 5, dans lequel le premier moteur (2') est prévu pour entraîner un arbre d'entraînement monté de façon rotative dans un premier support de palier (18') fixé à l'élément de base (3), sur lequel une extrémité du bras pivotant (5') est fixée de façon calée en rotation, tandis qu'une autre extrémité du bras pivotant (5') est monté de façon articulée rotative dans un deuxième support de palier (17') fixé au premier élément de fourniture (6'), dans lequel la deuxième roue à chaîne (9') est fixée de façon calée en rotation au premier support de palier (18') et dans lequel la première roue à chaîne (7') est fixée de façon calée en rotation au deuxième support de palier (17').
  7. Dispositif selon l'une quelconque des revendications 1 à 4, dans lequel la deuxième roue à chaîne (9') est couplée au premier moteur par un axe d'entraînement et la deuxième roue à chaîne (9') peut tourner au moyen du premier moteur (2") autour d'un axe de rotation (103) aligné avec la première articulation rotative (15'), tandis qu'une extrémité du premier bras pivotant (5") est montée de façon articulée rotative sur un premier support de palier (18") fixé à l'élément de base (3), et l'autre extrémité du premier bras pivotant (5") est fixée de façon articulée rotative à un deuxième support de palier (17") fixé sur le premier élément de fourniture (6'), tandis que la première roue à chaîne (7") est fixée de façon calée en rotation au deuxième support de palier (17").
  8. Dispositif (100) selon l'une quelconque des revendications 2 à 7, dans lequel le deuxième élément de fourniture (6") comprend une autre plaque de montage (13"), sur laquelle est disposé un autre dispositif de fixation (10") pour fixer un appareil de support et/ou d'usinage (11) et/ou dans lequel le deuxième dispositif de pivotement (4") comprend un deuxième bras pivotant (5"), dont une extrémité est fixée de façon articulée rotative à l'élément de base (3) par une autre deuxième articulation rotative (14") et dont l'autre extrémité est fixée de façon articulée rotative au deuxième élément de fourniture (6") par une autre première articulation rotative (15") et/ou le deuxième dispositif de pivotement (4") comprend un deuxième entraînement à chaîne, dans lequel le deuxième entraînement à chaîne comprend une autre première roue à chaîne (7") couplée au deuxième élément de fourniture (6"), une autre deuxième roue à chaîne (9") couplée à l'élément de base (3) ainsi qu'une autre chaîne (8") tournant sur l'autre première roue à chaîne (7") et sur l'autre deuxième roue à chaîne (9") et/ou dans lequel l'autre deuxième roue à chaîne (9") est reliée à un autre axe d'entraînement s'étendant le long du deuxième axe de pivotement (103), qui peut être entraîné au moyen d'un deuxième moteur (2") et qui est aligné avec l'axe de rotation de l'autre deuxième articulation rotative (15"), et/ou l'autre première roue à chaîne (7") est fixée au deuxième élément de fourniture (6") de façon calée en rotation par rapport au deuxième élément de fourniture (6"), dans lequel un axe central de l'autre première roue à chaîne (7") est aligné avec l'axe de rotation de l'autre première articulation rotative (14").
  9. Dispositif (100) selon l'une quelconque des revendications précédentes, dans lequel le premier et le deuxième axes de pivotement (102, 103) sont orientés parallèlement l'un à l'autre.
  10. Dispositif (100) selon l'une quelconque des revendications précédentes, dans lequel l'élément de base (3) est constitué par une table tournante, qui peut tourner par rapport à la base de support (1) au moyen d'un moteur d'entraînement (16).
  11. Dispositif (100) selon l'une quelconque des revendications précédentes, dans lequel le dispositif (100) présente un troisième et un quatrième éléments de fourniture, dans lequel le troisième et le quatrième éléments de fourniture sont prévus respectivement pour recevoir les appareils de support et/ou d'usinage (11), dans lequel le troisième élément de fourniture peut pivoter au moyen d'un troisième dispositif de pivotement autour d'un troisième axe de pivotement perpendiculaire à l'axe de rotation (101) et dans lequel le quatrième élément de fourniture peut pivoter au moyen d'un quatrième dispositif de pivotement autour d'un quatrième axe de pivotement perpendiculaire à l'axe de rotation (101), dans lequel le premier, le deuxième, le troisième et le quatrième éléments de fourniture sont disposés de préférence avec la symétrie de rotation autour de l'axe de rotation (101).
  12. Système pour le transport et/ou l'usinage de pièces à l'intérieur d'une ligne de fabrication pour la fabrication de carrosseries de véhicules, dans lequel le système présente un dispositif (100) de fourniture d'appareils de support et/ou d'usinage (11) selon l'une quelconque des revendications précédentes et dans lequel le système présente en outre un manipulateur qui peut être garni d'appareils de support et/ou d'usinage (11) fournis par le dispositif (100).
  13. Système selon la revendication 11, dans lequel le système présente un magasin pour une multiplicité d'appareils de support et/ou d'usinage (11) et/ou dans lequel le système présente une station de changement et/ou d'attente.
EP13753137.2A 2012-08-24 2013-08-15 Dispositif de fourniture d'appareils de support et/ou d'usinage et système Not-in-force EP2888078B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012107831.9A DE102012107831A1 (de) 2012-08-24 2012-08-24 Vorrichtung zur Bereitstellung von Halte- und/oder Bearbeitungseinrichtungen und System
PCT/EP2013/067094 WO2014029690A1 (fr) 2012-08-24 2013-08-15 Dispositif de fourniture d'appareils de support et/ou d'usinage et système

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EP2888078A1 EP2888078A1 (fr) 2015-07-01
EP2888078B1 true EP2888078B1 (fr) 2018-02-21

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DE (1) DE102012107831A1 (fr)
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DE102015220837A1 (de) 2015-10-26 2017-04-27 Volkswagen Aktiengesellschaft Schnellkoppler zur Teileverbindung
DE102015014932B4 (de) * 2015-11-18 2020-07-16 Audi Ag Fertigungssystem für ein Kraftfahrzeugbauteil sowie Verfahren zum Betreiben eines Fertigungssystems
CN107662200A (zh) * 2017-11-07 2018-02-06 山东大学 一种适用于高温高粉尘环境的四轴机械手装置及其应用
CN110039331B (zh) * 2019-04-08 2021-04-06 科德数控股份有限公司 一种具有立起功能的交换工作台
CN113021227A (zh) * 2021-03-23 2021-06-25 郑州航空工业管理学院 一种多体位机电安装工装装置

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GB793898A (en) * 1956-06-25 1958-04-23 Seneca Falls Machine Co Improvements in work-transfer mechanism for machine tools
GB2105234A (en) * 1981-09-08 1983-03-23 Lansing Bagnall Ltd Work support including positionable work-tables
DD236479B1 (de) * 1985-04-29 1988-06-22 Werkzeugmasch Forschzent Werkzeugspeicher fuer rotations- und drehwerkzeughalter
DE202004009601U1 (de) * 2004-06-17 2004-10-07 Nothelfer Gmbh Vorrichtung zur Aufnahme von ein oder mehreren Werkzeugplatten

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WO2014029690A1 (fr) 2014-02-27
DE102012107831A1 (de) 2014-02-27
ES2668283T3 (es) 2018-05-17
EP2888078A1 (fr) 2015-07-01

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